الملخص
World action models (WAMs) predict actions and future observations, typically from a reconstruction-based representation that carries noisy, redundant information which can complicate downstream predictions. We introduce LeWAM, a bidirectional transformer for forward, backward, inverse dynamics and policy prediction, on a decoder-free JEPA latent trained end-to-end through all four modes. We see the following benefits: 1) Alignment: linear probes read robot and object state from LeWAM's latent better than from a regular Le World Model (a forward-only JEPA world model), while the latent ignores visual distractors as well as LeWM does and far better than a reconstruction-based WAM. 2) Acting: Closed-loop evaluations of LeWAM match a regular flow-matching policy trained on the same encoder at matched size, while also providing a world model. 3) Planning: Sampling raw actions when planning with WAMs lets MPC exploit dynamics-model inaccuracies; planning in the noise space of the policy head instead improves the closed-loop performance of these WAMs.
الكلمات المفتاحية
بيانات النشر
- المجلة
- غير متاح
- وصول مفتوح
- وصول مفتوح أخضر
اقتبس هذه المقالة
APA 7
Hegde, S., Popov, A., Aljalbout, E., & Smolyanskiy, N. (2026). LeWAM: A JEPA World Action Model with Diffusion-Steering-Based MPC. https://omanscience.com/ar/articles/lewam-a-jepa-world-action-model-with-diffusion-steering-based-mpc
MLA 9
Hegde, Shashank, et al. "LeWAM: A JEPA World Action Model with Diffusion-Steering-Based MPC." https://omanscience.com/ar/articles/lewam-a-jepa-world-action-model-with-diffusion-steering-based-mpc.
شيكاغو (المؤلف–التاريخ)
Hegde, Shashank, Alexander Popov, Elie Aljalbout, and Nikolai Smolyanskiy. 2026. "LeWAM: A JEPA World Action Model with Diffusion-Steering-Based MPC." https://omanscience.com/ar/articles/lewam-a-jepa-world-action-model-with-diffusion-steering-based-mpc.
هارفارد
Hegde, S., Popov, A., Aljalbout, E. and Smolyanskiy, N. (2026) 'LeWAM: A JEPA World Action Model with Diffusion-Steering-Based MPC', Available at: https://omanscience.com/ar/articles/lewam-a-jepa-world-action-model-with-diffusion-steering-based-mpc.
فانكوفر
Hegde S, Popov A, Aljalbout E, Smolyanskiy N. LeWAM: A JEPA World Action Model with Diffusion-Steering-Based MPC. https://omanscience.com/ar/articles/lewam-a-jepa-world-action-model-with-diffusion-steering-based-mpc
IEEE
S. Hegde, A. Popov, E. Aljalbout, and N. Smolyanskiy, "LeWAM: A JEPA World Action Model with Diffusion-Steering-Based MPC," https://omanscience.com/ar/articles/lewam-a-jepa-world-action-model-with-diffusion-steering-based-mpc.